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Saturday, March 31, 2012

ROS on Android Phone

Finaly done with ROS(Robotic Operating System) on android 

It was my 1 day work for getting an output from android to ROS Server .I will explain the procedure that i have done


1)android-sdk for linux -Refer the following site for manually download android component .Othervice you have to setup eclipse for doing it

2)platform-tools-This is the most required thing in this installation operation


1)Download android stack from ROS website

2)There is a README file in this stack describing the installation procedure .But there will some error when you follow it 

Note :The error i got the installation operation is with adb 
Starting of adb is like follows
#./adb kill-server
#./adb start-server
#./adb devices
It will print if the device is connected

#./adb shell 

Set the Link path of python from README file 

Change the link path according to your android path .Othervice it will show error
It is better to install Pythonforandroid and sl4a manually .

Set the adb path in .bashrc file on home folder

eg :export ADB=~/android-sdk/platform-tools/adb

After installation using make install command
You have to enter 
$make cv_module
$make ros_sample 

After that you have to take pythonforandroid and press importmodule option
It will show cv.egg ,select and install it 

Connect android phone and computer though a wifi network ,preferably through a router . 

Take from sl4a script folder .Run it

It will ask for ROS_MASTER_URI ,for URI you have to note the IP of computer which running roscore .For eg:My system IP was So theURI is 


Note:i have some issues in importing cv .So i commented the cvsection and working only on accelerometer ,vibrate ,speak functions

Here is the edited
#  ROS on Android
#  Sample ROS node
#  Copyright (c) 2011 Technische Universitaet Muenchen,
#  Distributed Multimodal Information Processing Group

from ros_android import *
import time

# load needed ROS packages
import roslib
import rospy
from std_msgs.msg import String
from std_msgs.msg import Int16
from sensor_msgs.msg import Image
#from cv_bridge import CvBridge, CvBridgeError

#import cv

# callback for /mobile/say
def cb_say(data):
rospy.loginfo("I should say: %s",

# callback for /mobile/vibrate
def cb_vibrate(data):
def main():
print "main()"

cam = CamHandler()
pub = rospy.Publisher('/mobile/acceleration', String)
rospy.Subscriber('/mobile/say', String, cb_say)
rospy.Subscriber('/mobile/vibrate', Int16, cb_vibrate)

# start sensor polling in background

while not rospy.is_shutdown():
# read the accelerometer and store result
acc = droid.sensorsReadAccelerometer().result
# if new sensor values have arrived, output them
if isinstance(acc[0], float):
# acc_str = "%s - Acc: %f %f %f" % (rospy.get_time(), acc[0], acc[1], acc[2])
acc_str = "X:%f Y:%f Z:%f" % (acc[0], acc[1], acc[2])
# acc_str = "Time: %s - No acc. values" % rospy.get_time()
acc_str = "No values."


# start-up main

Here is the output



Anonymous said...

Hi, have you tried to connect arduino and android directly, say, having Master node on Android (rosjava) and a node handler on arduino?

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